\section{Simulation}

\frame{
  \frametitle{Outline}
  \tableofcontents[sectionstyle=show/shaded,subsectionstyle=hide]
}

\subsection{Simulation Results}
\frame[t]{
\frametitle{Control Authority}
  \begin{figure}
    \centering
    \includegraphics[width=0.65\textwidth]{sim_pp}
    \vspace{-1mm}
    \caption{Phase portrait of steady-state flat walking.}
  \end{figure}
  \vspace{-5mm}
  \begin{figure}
    \centering
    \includegraphics[width=0.65\textwidth]{sim_control}
    \vspace{-1mm}
    \caption{Applied control values in N$\cdot$m.}
  \end{figure}
}

\frame[t]{
\frametitle{Poincar\'e Analysis}
  \begin{figure}
    \centering
    \includegraphics[width=0.75\textwidth]{poincare_section}
    \vspace{-1mm}
    \caption{Reduced-Dimensional Visualization of Poincar\'e Section.}
  \end{figure}
}


\frame[t]{
\frametitle{Steady-State Walking}
  \begin{figure}
    \centering
    \movie[width=0.80\textwidth,externalviewer]{\includegraphics[width=0.9\textwidth]{tiles_flat}}{./movies/biped_flat.mp4}
    \vspace{-1mm}
    \caption{Walking on flat ground.}
  \end{figure}
  \vspace{-5mm}
  \begin{figure}
    \centering
    \movie[width=0.80\textwidth,externalviewer]{\includegraphics[width=0.9\textwidth]{tiles_slope}}{./movies/biped_slope.mp4}
    \vspace{-1mm}
    \caption{Walking down a slope.}
  \end{figure}
}

\frame[t]{
  \frametitle{Rough-Terrain walking}
  \begin{figure}
    \centering
    \movie[width=0.80\textwidth,externalviewer]{\includegraphics[width=0.9\textwidth]{tiles_steps}}{./movies/biped_steps.mp4}
    \vspace{-1mm}
    \caption{Walking on steps.}
  \end{figure}
  \vspace{-5mm}
  \begin{figure}
    \centering
    \movie[width=0.80\textwidth,externalviewer]{\includegraphics[width=0.9\textwidth]{tiles_rough}}{./movies/biped_rough.mp4}
    \vspace{-1mm}
    \caption{Walking on rough terrain.}
  \end{figure}
}
